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Ignore weird success flag on IMU update

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This commit is contained in:
Niklas Jensen
2025-11-27 20:22:01 +01:00
parent 88ae331c96
commit 52b81554a3
1 changed files with 5 additions and 5 deletions
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esp32/include/peripherals/imu.h
+5 -5
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@@ -96,7 +96,7 @@ class IMU : public SensorBase<IMUAnglesMsg> {
} }
bool update() override { bool update() override {
if (!_msg.success) return false; //if (!_msg.success) return false;
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050)
if (_imu.dmpPacketAvailable()) { if (_imu.dmpPacketAvailable()) {
if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) { if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
@@ -110,11 +110,11 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif #endif
#if FT_ENABLED(USE_ICM20948) #if FT_ENABLED(USE_ICM20948)
if (_imu.dataReady()) if (_imu.dataReady())
{ {
_imu.getAGMT(); _imu.getAGMT();
_msg.rpy[0] = _imu.magX(); _msg.rpy[0] = _imu.gyrX();
_msg.rpy[1] = _imu.magY(); _msg.rpy[1] = _imu.gyrY();
_msg.rpy[2] = _imu.magZ(); _msg.rpy[2] = _imu.gyrZ();
} }
#endif #endif
#if FT_ENABLED(USE_BNO055) #if FT_ENABLED(USE_BNO055)